OpenRaiser/Intern-Atlas huggingface dataset:
DRL-Based Federated Self-Supervised Learning for Task Offloading and Resource Allocation in ISAC-Enabled Vehicle Edge Computing
Venue: arXiv cs.LG 2025
Year: 2025

Intelligent Transportation Systems (ITS) leverage Integrated Sensing and Communications (ISAC) to enhance data exchange between vehicles and infrastructure in the Internet of Vehicles (IoV). This integration inevitably increases computing demands, risking real-time system stability. Vehicle Edge Computing (VEC) addresses this by offloading tasks to Road Side Unit (RSU), ensuring timely services. Our previous work FLSimCo algorithm, which uses local resources for Federated Self-Supervised Learning (SSL), though vehicles often can't complete all iterations task. Our improved algorithm offloads partial task to RSU and optimizes energy consumption by adjusting transmission power, CPU frequency, and task assignment ratios, balancing local and RSU-based training. Meanwhile, setting an offloading threshold further prevents inefficiencies. Simulation results show that the enhanced algorithm reduces energy consumption, improves offloading efficiency and the accuracy of Federated SSL.
Graph and Sequential Neural Networks in Session-based Recommendation: A Survey
Venue: arXiv cs.IR 2025
Year: 2025

Recent years have witnessed the remarkable success of recommendation systems (RSs) in alleviating the information overload problem. As a new paradigm of RSs, session-based recommendation (SR) specializes in users' short-term preference capture and aims to provide a more dynamic and timely recommendation based on the ongoing interacted actions. In this survey, we will give a comprehensive overview of the recent works on SR. First, we clarify the definitions of various SR tasks and introduce the characteristics of session-based recommendation against other recommendation tasks. Then, we summarize the existing methods in two categories: sequential neural network based methods and graph neural network (GNN) based methods. The standard frameworks and technical are also introduced. Finally, we discuss the challenges of SR and new research directions in this area.
Adversarial Attacks and Defenses in Multivariate Time-Series Forecasting for Smart and Connected Infrastructures
Venue: arXiv cs.LG 2025
Year: 2025

The emergence of deep learning models has revolutionized various industries over the last decade, leading to a surge in connected devices and infrastructures. However, these models can be tricked into making incorrect predictions with high confidence, leading to disastrous failures and security concerns. To this end, we explore the impact of adversarial attacks on multivariate time-series forecasting and investigate methods to counter them. Specifically, we employ untargeted white-box attacks, namely the Fast Gradient Sign Method (FGSM) and the Basic Iterative Method (BIM), to poison the inputs to the training process, effectively misleading the model. We also illustrate the subtle modifications to the inputs after the attack, which makes detecting the attack using the naked eye quite difficult. Having demonstrated the feasibility of these attacks, we develop robust models through adversarial training and model hardening. We are among the first to showcase the transferability of these attacks and defenses by extrapolating our work from the benchmark electricity data to a larger, 10-year real-world data used for predicting the time-to-failure of hard disks. Our experimental results confirm that the attacks and defenses achieve the desired security thresholds, leading to a 72.41% and 94.81% decrease in RMSE for the electricity and hard disk datasets respectively after implementing the adversarial defenses.
The equational theory of the Weihrauch lattice with (iterated) composition
Venue: arXiv cs.LO 2025
Year: 2025

We study the equational theory of the Weihrauch lattice with composition and iterations, meaning the collection of equations between terms built from variables, the lattice operations $\sqcup$, $\sqcap$, the composition operator $\star$ and its iteration $(-)^\diamond$ , which are true however we substitute (slightly extended) Weihrauch degrees for the variables. We characterize them using Büchi games on finite graphs and give a complete axiomatization that derives them. The term signature and the axiomatization are reminiscent of Kleene algebras, except that we additionally have meets and the lattice operations do not fully distributes over composition. The game characterization also implies that it is decidable whether an equation is universally valid. We give some complexity bounds; in particular, the problem is Pspace-hard in general and we conjecture that it is solvable in Pspace.
Constraining Participation: Affordances of Feedback Features in Interfaces to Large Language Models
Venue: arXiv cs.HC 2025
Year: 2025

Large language models (LLMs) are now accessible to anyone with a computer, a web browser, and an internet connection via browser-based interfaces, shifting the dynamics of participation in AI development. This article examines how interactive feedback features in ChatGPT's interface afford user participation in LLM iteration. Drawing on a survey of early ChatGPT users and applying the mechanisms and conditions framework of affordances, we analyse how these features shape user input. Our analysis indicates that these features encourage simple, frequent, and performance-focused feedback while discouraging collective input and discussions among users. Drawing on participatory design literature, we argue such constraints, if replicated across broader user bases, risk reinforcing power imbalances between users, the public, and companies developing LLMs. Our analysis contributes to the growing literature on participatory AI by critically examining the limitations of existing feedback processes and proposing directions for redesign. Rather than focusing solely on aligning model outputs with specific user preferences, we advocate for creating infrastructure that supports sustained dialogue about the purpose and applications of LLMs. This approach requires attention to the ongoing work of "infrastructuring" - creating and sustaining the social, technical, and institutional structures necessary to address matters of concern to stakeholders impacted by LLM development and deployment.
X-Reflect: Cross-Reflection Prompting for Multimodal Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Large Language Models (LLMs) have been shown to enhance the effectiveness of enriching item descriptions, thereby improving the accuracy of recommendation systems. However, most existing approaches either rely on text-only prompting or employ basic multimodal strategies that do not fully exploit the complementary information available from both textual and visual modalities. This paper introduces a novel framework, Cross-Reflection Prompting, termed X-Reflect, designed to address these limitations by prompting Multimodal Large Language Models (MLLMs) to explicitly identify and reconcile supportive and conflicting information between text and images. By capturing nuanced insights from both modalities, this approach generates more comprehensive and contextually rich item representations. Extensive experiments conducted on two widely used benchmarks demonstrate that our method outperforms existing prompting baselines in downstream recommendation accuracy. Furthermore, we identify a U-shaped relationship between text-image dissimilarity and recommendation performance, suggesting the benefit of applying multimodal prompting selectively. To support efficient real-time inference, we also introduce X-Reflect-keyword, a lightweight variant that summarizes image content using keywords and replaces the base model with a smaller backbone, achieving nearly 50% reduction in input length while maintaining competitive performance. This work underscores the importance of integrating multimodal information and presents an effective solution for improving item understanding in multimodal recommendation systems.
Can Unconfident LLM Annotations Be Used for Confident Conclusions?
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have shown high agreement with human raters across a variety of tasks, demonstrating potential to ease the challenges of human data collection. In computational social science (CSS), researchers are increasingly leveraging LLM annotations to complement slow and expensive human annotations. Still, guidelines for collecting and using LLM annotations, without compromising the validity of downstream conclusions, remain limited. We introduce Confidence-Driven Inference: a method that combines LLM annotations and LLM confidence indicators to strategically select which human annotations should be collected, with the goal of producing accurate statistical estimates and provably valid confidence intervals while reducing the number of human annotations needed. Our approach comes with safeguards against LLM annotations of poor quality, guaranteeing that the conclusions will be both valid and no less accurate than if we only relied on human annotations. We demonstrate the effectiveness of Confidence-Driven Inference over baselines in statistical estimation tasks across three CSS settings--text politeness, stance, and bias--reducing the needed number of human annotations by over 25% in each. Although we use CSS settings for demonstration, Confidence-Driven Inference can be used to estimate most standard quantities across a broad range of NLP problems.
The Mamba in the Llama: Distilling and Accelerating Hybrid Models
Venue: arXiv cs.LG 2025
Year: 2025

Linear RNN architectures, like Mamba, can be competitive with Transformer models in language modeling while having advantageous deployment characteristics. Given the focus on training large-scale Transformer models, we consider the challenge of converting these pretrained models for deployment. We demonstrate that it is feasible to distill large Transformers into linear RNNs by reusing the linear projection weights from attention layers with academic GPU resources. The resulting hybrid model, which incorporates a quarter of the attention layers, achieves performance comparable to the original Transformer in chat benchmarks and outperforms open-source hybrid Mamba models trained from scratch with trillions of tokens in both chat benchmarks and general benchmarks. Moreover, we introduce a hardware-aware speculative decoding algorithm that accelerates the inference speed of Mamba and hybrid models. Overall we show how, with limited computation resources, we can remove many of the original attention layers and generate from the resulting model more efficiently. Our top-performing model, distilled from Llama3-8B-Instruct, achieves a 29.61 length-controlled win rate on AlpacaEval 2 against GPT-4 and 7.35 on MT-Bench, surpassing the best 8B scale instruction-tuned linear RNN model. We also find that the distilled model has natural length extrapolation, showing almost perfect accuracy in the needle-in-a-haystack test at 20x the distillation length. Code and pre-trained checkpoints are open-sourced at https://github.com/jxiw/MambaInLlama and https://github.com/itsdaniele/speculative_mamba.
Signals as submanifolds, and configurations of points
Venue: arXiv cs.IT 2025
Year: 2025

For the purposes of abstract theory of signal propagation, a signal is a submanifold of a Riemannian manifold. We obtain energy inequalities, or upper bounds, lower bounds on energy in a number of specific cases, including parameter spaces of Gaussians and spaces of configurations of points. We discuss the role of time as well as graph embeddings.
AeroVerse: UAV-Agent Benchmark Suite for Simulating, Pre-training, Finetuning, and Evaluating Aerospace Embodied World Models
Venue: arXiv cs.RO 2025
Year: 2025

Aerospace embodied intelligence aims to empower unmanned aerial vehicles (UAVs) and other aerospace platforms to achieve autonomous perception, cognition, and action, as well as egocentric active interaction with humans and the environment. The aerospace embodied world model serves as an effective means to realize the autonomous intelligence of UAVs and represents a necessary pathway toward aerospace embodied intelligence. However, existing embodied world models primarily focus on ground-level intelligent agents in indoor scenarios, while research on UAV intelligent agents remains unexplored. To address this gap, we construct the first large-scale real-world image-text pre-training dataset, AerialAgent-Ego10k, featuring urban drones from a first-person perspective. We also create a virtual image-text-pose alignment dataset, CyberAgent Ego500k, to facilitate the pre-training of the aerospace embodied world model. For the first time, we clearly define 5 downstream tasks, i.e., aerospace embodied scene awareness, spatial reasoning, navigational exploration, task planning, and motion decision, and construct corresponding instruction datasets, i.e., SkyAgent-Scene3k, SkyAgent-Reason3k, SkyAgent-Nav3k and SkyAgent-Plan3k, and SkyAgent-Act3k, for fine-tuning the aerospace embodiment world model. Simultaneously, we develop SkyAgentEval, the downstream task evaluation metrics based on GPT-4, to comprehensively, flexibly, and objectively assess the results, revealing the potential and limitations of 2D/3D visual language models in UAV-agent tasks. Furthermore, we integrate over 10 2D/3D visual-language models, 2 pre-training datasets, 5 finetuning datasets, more than 10 evaluation metrics, and a simulator into the benchmark suite, i.e., AeroVerse, which will be released to the community to promote exploration and development of aerospace embodied intelligence.
ReMoBot: Retrieval-Based Few-Shot Imitation Learning for Mobile Manipulation with Vision Foundation Models
Venue: arXiv cs.RO 2025
Year: 2025

Imitation learning (IL) algorithms typically distill experience into parametric behavior policies to mimic expert demonstrations. However, with limited demonstrations, existing methods often struggle to generate accurate actions, particularly under partial observability. To address this problem, we introduce a few-shot IL approach, ReMoBot, which directly retrieves information from demonstrations to solve Mobile manipulation tasks with ego-centric visual observations. Given the current observation, ReMoBot utilizes vision foundation models to identify relevant demonstrations, considering visual similarity w.r.t. both individual observations and history trajectories. A motion selection policy then selects the proper command for the robot until the task is successfully completed. The performance of ReMoBot is evaluated on three mobile manipulation tasks with a Boston Dynamics Spot robot in both simulation and the real world. After benchmarking five approaches in simulation, we compare our method with two baselines in the real world, training directly on the real-world dataset without sim-to-real transfer. With only 20 demonstrations, ReMoBot outperforms the baselines, achieving high success rates in Table Uncover (70%) and Gap Cover (80%), while also showing promising performance on the more challenging Curtain Open task in the real-world setting. Furthermore, ReMoBot demonstrates generalization across varying robot positions, object sizes, and material types. Additional details are available at: https://sites.google.com/view/remobot/home
LeMON: Learning to Learn Multi-Operator Networks
Venue: arXiv cs.LG 2025
Year: 2025

Single-operator learning involves training a deep neural network to learn a specific operator, whereas recent work in multi-operator learning uses an operator embedding structure to train a single neural network on data from multiple operators. Thus, multi-operator learning is capable of predicting a range of operators within one model. In this work, we propose pretraining and fine-tuning strategies for solving PDEs using multi-operator learning. One key aspect is that by increasing the number of families of operators used in pretraining, a PDE foundation model can be fine-tuned to downstream tasks involving new PDEs with a limited number of samples, thus outperforming single operator neural networks. Specifically, a multi-operator learning model pre-trained with data from diverse PDE families can predict unseen operators after fine-tuning with only a limited number of operators from the new family, enabling them to serve as a data-free PDE solver. We also show that the proposed training and fine-tuning method is able to predict new operators in zero-shot prediction without samples. Additionally, we introduce a PDE-agnostic meta-learning algorithm to improve the adaptability of the model to various PDEs by providing a better parameter initialization process. To address the needs of applications with limited computing resources, we explore low-rank adaptation methods that reduce computational costs while enhancing solver accuracy. Lastly, by examining the scaling law with respect to the number of operator families, we establish and highlight its potential for broad adaptation in PDE-solving tasks.
Low Saturation Confidence Distribution-based Test-Time Adaptation for Cross-Domain Remote Sensing Image Classification
Venue: arXiv cs.CV 2025
Year: 2025

Unsupervised Domain Adaptation (UDA) has emerged as a powerful technique for addressing the distribution shift across various Remote Sensing (RS) applications. However, most UDA approaches require access to source data, which may be infeasible due to data privacy or transmission constraints. Source-free Domain Adaptation addresses the absence of source data but usually demands a large amount of target domain data beforehand, hindering rapid adaptation and restricting their applicability in broader scenarios. In practical cross-domain RS image classification, achieving a balance between adaptation speed and accuracy is crucial. Therefore, we propose Low Saturation Confidence Distribution Test-Time Adaptation (LSCD-TTA), marketing the first attempt to explore Test-Time Adaptation for cross-domain RS image classification without requiring source or target training data. LSCD-TTA adapts a source-trained model on the fly using only the target test data encountered during inference, enabling immediate and efficient adaptation while maintaining high accuracy. Specifically, LSCD-TTA incorporates three optimization strategies tailored to the distribution characteristics of RS images. Firstly, weak-confidence softmax-entropy loss emphasizes categories that are more difficult to classify to address unbalanced class distribution. Secondly, balanced-categories softmax-entropy loss softens and balances the predicted probabilities to tackle the category diversity. Finally, low saturation distribution loss utilizes soft log-likelihood ratios to reduce the impact of low-confidence samples in the later stages of adaptation. By effectively combining these losses, LSCD-TTA enables rapid and accurate adaptation to the target domain for RS image classification.
Alignment is All You Need: A Training-free Augmentation Strategy for Pose-guided Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Character animation is a transformative field in computer graphics and vision, enabling dynamic and realistic video animations from static images. Despite advancements, maintaining appearance consistency in animations remains a challenge. Our approach addresses this by introducing a training-free framework that ensures the generated video sequence preserves the reference image's subtleties, such as physique and proportions, through a dual alignment strategy. We decouple skeletal and motion priors from pose information, enabling precise control over animation generation. Our method also improves pixel-level alignment for conditional control from the reference character, enhancing the temporal consistency and visual cohesion of animations. Our method significantly enhances the quality of video generation without the need for large datasets or expensive computational resources.
Optimal Parallelization of Boosting
Venue: arXiv cs.LG 2025
Year: 2025

Recent works on the parallel complexity of Boosting have established strong lower bounds on the tradeoff between the number of training rounds $p$ and the total parallel work per round $t$. These works have also presented highly non-trivial parallel algorithms that shed light on different regions of this tradeoff. Despite these advancements, a significant gap persists between the theoretical lower bounds and the performance of these algorithms across much of the tradeoff space. In this work, we essentially close this gap by providing both improved lower bounds on the parallel complexity of weak-to-strong learners, and a parallel Boosting algorithm whose performance matches these bounds across the entire $p$ vs.~$t$ compromise spectrum, up to logarithmic factors. Ultimately, this work settles the true parallel complexity of Boosting algorithms that are nearly sample-optimal.
3D Whole-body Grasp Synthesis with Directional Controllability
Venue: arXiv cs.CV 2025
Year: 2025

Synthesizing 3D whole bodies that realistically grasp objects is useful for animation, mixed reality, and robotics. This is challenging, because the hands and body need to look natural w.r.t. each other, the grasped object, as well as the local scene (i.e., a receptacle supporting the object). Moreover, training data for this task is really scarce, while capturing new data is expensive. Recent work goes beyond finite datasets via a divide-and-conquer approach; it first generates a "guiding" right-hand grasp, and then searches for bodies that match this. However, the guiding-hand synthesis lacks controllability and receptacle awareness, so it likely has an implausible direction (i.e., a body can't match this without penetrating the receptacle) and needs corrections through major post-processing. Moreover, the body search needs exhaustive sampling and is expensive. These are strong limitations. We tackle these with a novel method called CWGrasp. Our key idea is that performing geometry-based reasoning "early on," instead of "too late," provides rich "control" signals for inference. To this end, CWGrasp first samples a plausible reaching-direction vector (used later for both the arm and hand) from a probabilistic model built via ray-casting from the object and collision checking. Moreover, CWGrasp uniquely tackles both right and left-hand grasps. We evaluate on the GRAB and ReplicaGrasp datasets. CWGrasp outperforms baselines, at lower runtime and budget, while all components help performance. Code and models are available at https://gpaschalidis.github.io/cwgrasp.
Inductive Learning of Logical Theories with LLMs: An Expressivity-Graded Analysis
Venue: arXiv cs.CL 2025
Year: 2025

This work presents a novel systematic methodology to analyse the capabilities and limitations of Large Language Models (LLMs) with feedback from a formal inference engine, on logic theory induction. The analysis is complexity-graded w.r.t. rule dependency structure, allowing quantification of specific inference challenges on LLM performance. Integrating LLMs with formal methods is a promising frontier in the Natural Language Processing field, as an important avenue for improving model inference control and explainability. In particular, inductive learning over complex sets of facts and rules, poses unique challenges for current autoregressive models, as they lack explicit symbolic grounding. While they can be complemented by formal systems, the properties delivered by LLMs regarding inductive learning, are not well understood and quantified. Empirical results indicate that the largest LLMs can achieve competitive results against a SOTA Inductive Logic Programming (ILP) system baseline, but also that tracking long predicate relationship chains is a more difficult obstacle than theory complexity for LLMs.